com.bulletphysics.collision.shapes
Class ConvexHullShape

java.lang.Object
  com.bulletphysics.collision.shapes.CollisionShape
      com.bulletphysics.collision.shapes.ConvexShape
          com.bulletphysics.collision.shapes.ConvexInternalShape
              com.bulletphysics.collision.shapes.PolyhedralConvexShape
                  com.bulletphysics.collision.shapes.ConvexHullShape

public class ConvexHullShape
extends PolyhedralConvexShape

ConvexHullShape implements an implicit convex hull of an array of vertices. Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.

Field Summary

Fields inherited from class com.bulletphysics.collision.shapes.ConvexShape

MAX_PREFERRED_PENETRATION_DIRECTIONS

Constructor Summary

ConvexHullShape(ObjectArrayList<Vector3f> points)
TODO: This constructor optionally takes in a pointer to points.

Method Summary

void	addPoint(Vector3f point)
void	batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors, Vector3f[] supportVerticesOut, int numVectors)
void	getEdge(int i, Vector3f pa, Vector3f pb)
String	getName()
int	getNumEdges()
int	getNumPlanes()
int	getNumPoints()
int	getNumVertices() Currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection.
void	getPlane(Vector3f planeNormal, Vector3f planeSupport, int i)
ObjectArrayList<Vector3f>	getPoints()
BroadphaseNativeType	getShapeType()
void	getVertex(int i, Vector3f vtx)
boolean	isInside(Vector3f pt, float tolerance)
Vector3f	localGetSupportingVertex(Vector3f vec, Vector3f out)
Vector3f	localGetSupportingVertexWithoutMargin(Vector3f vec0, Vector3f out)
void	setLocalScaling(Vector3f scaling)

Methods inherited from class com.bulletphysics.collision.shapes.PolyhedralConvexShape

calculateLocalInertia, getAabb, recalcLocalAabb

Methods inherited from class com.bulletphysics.collision.shapes.ConvexInternalShape

getAabbSlow, getLocalScaling, getMargin, getNumPreferredPenetrationDirections, getPreferredPenetrationDirection, setMargin

Methods inherited from class com.bulletphysics.collision.shapes.CollisionShape

calculateTemporalAabb, getAngularMotionDisc, getBoundingSphere, getUserPointer, isCompound, isConcave, isConvex, isInfinite, isPolyhedral, setUserPointer

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ConvexHullShape

public ConvexHullShape(ObjectArrayList<Vector3f> points)

TODO: This constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive float (x,y,z), the striding defines the number of bytes between each point, in memory. It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint. ConvexHullShape make an internal copy of the points.

Method Detail

setLocalScaling

public void setLocalScaling(Vector3f scaling)

Overrides:

setLocalScaling in class PolyhedralConvexShape

addPoint

public void addPoint(Vector3f point)

getPoints

public ObjectArrayList<Vector3f> getPoints()

getNumPoints

public int getNumPoints()

localGetSupportingVertexWithoutMargin

public Vector3f localGetSupportingVertexWithoutMargin(Vector3f vec0,
                                                      Vector3f out)

Overrides:

localGetSupportingVertexWithoutMargin in class PolyhedralConvexShape

batchedUnitVectorGetSupportingVertexWithoutMargin

public void batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors,
                                                              Vector3f[] supportVerticesOut,
                                                              int numVectors)

Overrides:

batchedUnitVectorGetSupportingVertexWithoutMargin in class PolyhedralConvexShape

localGetSupportingVertex

public Vector3f localGetSupportingVertex(Vector3f vec,
                                         Vector3f out)

Overrides:

localGetSupportingVertex in class ConvexInternalShape

getNumVertices

public int getNumVertices()

Currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection. Please note that you can debug-draw ConvexHullShape with the Raytracer Demo.

Specified by:

getNumVertices in class PolyhedralConvexShape

getNumEdges

public int getNumEdges()

Specified by:

getNumEdges in class PolyhedralConvexShape

getEdge

public void getEdge(int i,
                    Vector3f pa,
                    Vector3f pb)

Specified by:

getEdge in class PolyhedralConvexShape

getVertex

public void getVertex(int i,
                      Vector3f vtx)

Specified by:

getVertex in class PolyhedralConvexShape

getNumPlanes

public int getNumPlanes()

Specified by:

getNumPlanes in class PolyhedralConvexShape

getPlane

public void getPlane(Vector3f planeNormal,
                     Vector3f planeSupport,
                     int i)

Specified by:

getPlane in class PolyhedralConvexShape

isInside

public boolean isInside(Vector3f pt,
                        float tolerance)

Specified by:

isInside in class PolyhedralConvexShape

getShapeType

public BroadphaseNativeType getShapeType()

Specified by:

getShapeType in class CollisionShape

getName

public String getName()

Specified by:

getName in class CollisionShape